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I just changed my transmission fluid and filter today
It is not a very complicated procedure. The haynes manual that you can buy at Advance Auto Parts or Auto Zone is the one that I use. I bought the transmission filter and fluid at Advance Auto Parts as well. I used a Beck / Arnley filter that came with a rubber gasket and 4 quarts of Castrol Import Transmission Fluid. If you look at the back label of the Castrol Transmission it states that it meets the requirements of the Toyota T-IV fluid that is used in my 2005 Sienna. Here's how the process goes assuming you already have your van on jack stands of ramps:
1) With the transmission at operating temperature, remove the drain plug and drain the fluid into a drain pan. You should get between 3.5 quarts and a gallon. Once you have finished drining reinstall and tighten the plug so you don't forget it later.
2) Remove the transmission pan bolts. Some are a little hard to access but I was able to get to most with a ratchet socket and extension. You will get a little more fluid out when you drop the pan.
3) Once you drop the pan, you will see the filter. It is held in by 3 bolts. Remove the bolts and pull straight down on the filter.
4) Put a little clean fluid around the o-ring on the new filter and push it into place. Reinstall the 3 bolts snugly but do not over tighten.
5) Clean the pan but don't change the position of the magnets. My Sienna had two magnets.
6) Remove the old gasket and clean the gasket mating surfaces of both the pan and the transmission.
7) Install the new pan and gasket. I used gasket sealant but you may not need to. I wanted the added insurance against transmission leaks.
8) Reinstall the transmission pan bolts. Be careful not to overtighten. The transmission housing is aluminum and if you overtighten the bolts you can strip the bolt holes.
9) Double check the drain plug is tight and recheck the pan bolts are snug.
10) Put in about 3.5 quarts of fluid and check your level.
My Sienna had about 135,000 miles at the time of the change. My transmission pan was pretty clean even though the fluid was black. I'm planning on doing a transmission fluid drain and fill each time I change my oil until the fluid color is closer to the red color that it should be. I probably won't change the filter again until around 200,000 miles if we still own the van then. I didn't find any metal particles or anything in my pan that would give me cause for concern that my transmission was close to failure.
Hope this helps someone.
As long as you can tell the transmission pan from the oil pan you should be able to work through this without needing a manual if you are mechanically inclined.